CN113752280B - Seven-degree-of-freedom decoupling main manipulator - Google Patents
Seven-degree-of-freedom decoupling main manipulator Download PDFInfo
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- CN113752280B CN113752280B CN202111189136.8A CN202111189136A CN113752280B CN 113752280 B CN113752280 B CN 113752280B CN 202111189136 A CN202111189136 A CN 202111189136A CN 113752280 B CN113752280 B CN 113752280B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention provides a seven-degree-of-freedom decoupling main manipulator, which comprises: the hand shearing joint, the wrist offset joint, the wrist flexion and extension joint, the forearm rotating joint, the forearm turning joint and the elbow flexion and extension joint are connected one by one; a horizontal displacement driving device is arranged between the forearm rotating joint and the forearm turning joint; the hand shearing joint, the wrist deviation joint, the wrist flexion and extension joint, the forearm rotation joint, the forearm turning joint and the elbow flexion and extension joint and the horizontal displacement driving device are all provided with two steel wires which are driven in two directions corresponding to the joints or the devices. The seven-degree-of-freedom decoupling main manipulator has the functions of motion transmission and force feedback, and the seven degrees of freedom are completely decoupled, so that the degrees of freedom are not interfered with each other during the operation of the main manipulator and can move independently.
Description
Technical Field
The invention relates to the technical field of medical machinery, in particular to a seven-degree-of-freedom decoupling main manipulator.
Background
Minimally invasive surgery, also commonly referred to as invasive surgery, is performed by making small incisions in the body surface (or relying on the natural body lumen), and by using image guidance from a visual display system to extend surgical instruments through the body surface incisions into the body for treatment or diagnosis. The minimally invasive surgery technology distinguishes most surgical operations from open surgical modes, the application of the robot technology to medical surgical operations has become more and more popular, the robot has significant advantages in operation stability, rapidity and accuracy, and the integration of the robot technology into the surgical operations can improve the operation environment of doctors and shorten the recovery time of patients. At present, current minimal access surgery robot passes through doctor manual operation main operation hand, main operation hand can transmit doctor's action to the actuating mechanism of robot, current main operation hand receives doctor's action mostly through man-machine interaction, transmit the actuating mechanism of action to the robot through the signal of telecommunication, because the action passes through signal conversion many times, there is the possibility of deviation in the action execution, can't realize accurate action conduction and force feedback, simultaneously, partial main operation hand has the unable decoupling zero condition of each degree of freedom mutual interference.
Disclosure of Invention
The invention provides a seven-degree-of-freedom decoupling main manipulator, and aims to solve the problems that the conventional main manipulator needs to convert action signals for multiple times and the degrees of freedom of part of the main manipulator interfere with each other.
In order to achieve the above object, an embodiment of the present invention provides a seven-degree-of-freedom decoupling master manipulator, including:
the hand shearing joint, the wrist offset joint, the wrist flexion and extension joint, the forearm rotating joint, the forearm turning joint and the elbow flexion and extension joint are connected one by one; a horizontal displacement driving device is arranged between the forearm rotating joint and the forearm overturning joint;
the hand shearing joint, the wrist deviation joint, the wrist flexion and extension joint, the forearm rotation joint, the forearm turning joint and the elbow flexion and extension joint and the horizontal displacement driving device are all provided with two steel wires which are driven in two directions corresponding to the joints or the devices.
The hand shearing joint is composed of a finger moving mechanism and a palm positioning mechanism, the finger moving mechanism is rotationally arranged at the top of the palm positioning mechanism through a shearing rotating shaft, and two shearing driving steel wires connected with each other are wound on the shearing rotating shaft.
The palm positioning mechanism comprises a palm positioning mechanism body, a finger fixing mechanism and a locking nut, wherein the front end of the palm positioning mechanism body is movably inserted with the finger fixing mechanism body, the bottom of the palm positioning mechanism body is provided with a limiting groove, the limiting groove is provided with the locking nut, and the finger fixing mechanism body is fixedly installed at the front end of the palm positioning mechanism body through the locking nut.
The wrist offset joint is composed of a first support mechanism and a palm positioning mechanism, the rear end of the palm positioning mechanism is rotationally arranged on the upper portion of the first support mechanism through an offset rotating shaft, and two offset driving steel wires connected with each other are arranged on the offset rotating shaft in a winding mode.
The shearing driving steel wire penetrates through a central through hole of the offset rotating shaft and is led into the first bracket mechanism, and the shearing driving steel wire and the offset driving steel wire are led out of the first bracket mechanism through the guidance of a first bracket guide wheel set; the part of the shearing driving steel wire, which is positioned in the central through hole of the offset rotating shaft, is of a tendon sheath structure.
The wrist flexion and extension joint is composed of a front ring mechanism and a first support mechanism, the lower portion of the first support mechanism is rotatably arranged at the bottom of the front end of the front ring mechanism through a wrist flexion and extension rotating shaft, two wrist flexion and extension driving steel wires which are connected are arranged on the wrist flexion and extension rotating shaft in a winding mode, and the wrist flexion and extension driving steel wires are guided out of the first support mechanism through a first support bottom guide wheel group.
The forearm rotating joint consists of an arm support mechanism and a front ring mechanism, an arc male guide rail is fixedly arranged on the arm support mechanism, an inner ring arc female guide rail and an outer ring arc female guide rail are fixedly arranged at the rear end of the front ring mechanism, and the arc male guide rail is slidably arranged between the inner ring arc female guide rail and the outer ring arc female guide rail; the arc male guide rail is provided with an arc rack along the circumferential direction, the front ring mechanism is rotationally provided with a bevel gear, a core shaft is arranged at the circle center of the bevel gear in a penetrating mode, the bevel gear is in meshed transmission with the arc rack, two connected forearm rotary driving steel wires are wound on the core shaft, and the forearm rotary driving steel wires are guided and led out through a forearm rotary guiding wheel set.
Wherein, horizontal displacement drive arrangement by the arm hold in the palm the base with the arm holds in the palm the mechanism and constitutes, the arm holds in the palm the mechanism and sets up through two sets of slide rails with sliding on the arm holds in the palm the base, the side that the arm held in the palm the base wears to be equipped with the displacement drive shaft with rotating, the end of displacement drive shaft is provided with drive gear, the side that the arm held in the palm the mechanism is provided with the drive rack, drive gear and drive rack meshing, around being equipped with two continuous displacement drive steel wires in the displacement drive shaft.
The forearm turnover joint is composed of a second support mechanism and an arm support base, the arm support base is rotatably connected with the upper part of the second support mechanism through a turnover shaft tube, two connected turnover driving steel wires are wound on the turnover shaft tube, the displacement driving steel wires are led into the second support mechanism through a central through hole of the turnover shaft tube, and the displacement driving steel wires and the turnover driving steel wires are led out of the second support mechanism through the guidance of a second support guide wheel set; and the part of the displacement driving steel wire, which is positioned in the central through hole of the turnover shaft tube, is of a tendon sheath structure.
Wherein, the elbow bends and stretches the joint by the operative hand base with second gimbal mechanism constitutes, the bottom of second gimbal mechanism sets up with rotating through bending and stretching the central siphon on the operative hand base, bend and stretch the central siphon and go up and bend and stretch the drive steel wire around being equipped with two continuous elbows, the elbow bends and stretches the drive steel wire and draws forth through second support bottom direction wheelset direction second gimbal mechanism.
The scheme of the invention has the following beneficial effects:
the seven-degree-of-freedom decoupling main manipulator has six rotational degrees of freedom and one translational degree of freedom, each degree of freedom is correspondingly provided with two-direction transmission of two steel wires on one degree of freedom, when the main manipulator acts, the steel wires can transmit the action to the robot operating end, and when the robot operating end moves, force feedback can be carried out through the steel wires.
Drawings
FIG. 1 is a schematic diagram of the degrees of freedom of a seven-degree-of-freedom decoupling master manipulator of the present invention;
FIG. 2 is a schematic diagram of the overall structure of the seven-degree-of-freedom decoupling main manipulator of the invention;
FIG. 3 is a schematic diagram of the hand shearing freedom of the seven-degree-of-freedom decoupled master manipulator of the present invention;
FIG. 4 is a hand shearing degree-of-freedom transmission diagram of the seven-degree-of-freedom decoupling main manipulator of the invention;
FIG. 5 is a schematic diagram of the wrist offset freedom of the seven-DOF decoupled main manipulator of the present invention;
FIG. 6 is a schematic diagram of the wrist bending and stretching freedom degree of the seven-degree-of-freedom decoupling main manipulator of the invention;
FIG. 7 is a schematic diagram of the forearm rotational freedom of the seven-degree-of-freedom decoupled main manipulator of the present invention;
FIG. 8 is a schematic diagram of the forearm rotational degree of freedom transmission of the seven-degree-of-freedom decoupled main manipulator of the present invention;
FIG. 9 is a schematic diagram of the horizontal displacement automation degree of the seven-degree-of-freedom decoupling main manipulator of the present invention;
FIG. 10 is a schematic diagram of the horizontal displacement degree of freedom transmission of the seven-degree-of-freedom decoupling master manipulator of the present invention;
FIG. 11 is a first schematic diagram of the transmission of the horizontal displacement freedom and the forearm turning freedom of the seven-degree-of-freedom decoupling main manipulator of the invention;
FIG. 12 is a second schematic diagram of the transmission of the horizontal displacement freedom and the forearm turning freedom of the seven-DOF decoupled main manipulator of the invention;
FIG. 13 is a third schematic view of the transmission of the horizontal displacement freedom and the forearm turning freedom of the seven-DOF decoupled main manipulator of the invention;
FIG. 14 is a fourth schematic diagram of the horizontal displacement freedom and forearm turning freedom transmission of the seven-degree-of-freedom decoupling master manipulator of the invention;
fig. 15 is a schematic view of the elbow flexion and extension freedom degree transmission of the seven-freedom degree decoupling main manipulator.
[ description of reference ]
R 1 -a hand shear joint; r is 2 -a wrist offset joint; r 3 -a wrist flexion-extension joint; r 4 -a forearm rotation joint; r 5 -a forearm turnover joint; r is 6 -the elbow flexion and extension joint; m 1 -a horizontal displacement drive; 1-a finger moving mechanism; 2-a palm positioning mechanism; 3-shearing the rotating shaft; 4-shearing the driving steel wire; 5-a finger fixing mechanism; 6-a limiting groove; 7-locking the nut; 8-a first support mechanism; 9-offset shaft; 10-offset drive wires; 11-a first carriage guide wheel set; 12-a front ring mechanism; 13-wrist flexion and extension rotating shaft; 14-wrist flexion and extension driving steel wires; 15-a first bracket bottom guide wheel set; 16-an arm rest mechanism; 17-an arcuate male rail; 18-inner ring arc female guide rail; 19-outer ring arc female guide rail; 20-arc rack; 21-bevel gear; 22-a mandrel; 23-forearm rotation drive wire; 24-forearm rotary guide wheel set; 25-a ball cage; 26-ball retainer mounting grooves; 27-ball mounting holes; 28-arm rest base; 29-a slide rail; 30-displacement drive shaft; 31-a drive gear; 32-a drive rack; 33-displacement drive wire; 34-a second bracket mechanism; 35-overturning the shaft tube; 36-overturning the driving wire; 37-a second carriage guide wheel set; 38-bending and stretching shaft tube; 39-elbow flexion and extension driving steel wire; and 40-a second bracket bottom guide wheel set.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention provides a seven-degree-of-freedom decoupling main manipulator, aiming at the problems that the existing main manipulator needs to convert action signals for multiple times and the degrees of freedom of part of the main manipulator interfere with each other.
As shown in fig. 1, an embodiment of the present invention provides a seven-degree-of-freedom decoupling master manipulator, including: hand shear joint R 1 Wrist, and method for manufacturing the sameOffset joint R 2 Wrist flexion and extension joint R 3 Forearm rotary joint R 4 Forearm turnover joint R 5 And elbow flexion-extension joint R 6 Connecting one by one; the forearm rotary joint R 4 And forearm turnover joint R 5 Between which a horizontal displacement driving device M is arranged 1 (ii) a The hand shearing joint R 1 Wrist offset joint R 2 Wrist flexion and extension joint R 3 Forearm rotary joint R 4 Forearm turnover joint R 5 Elbow flexion and extension joint R 6 And said horizontal displacement driving means M 1 Two steel wires are arranged and are driven in two directions corresponding to the joints or the devices.
The seven-degree-of-freedom decoupling main manipulator has six rotational degrees of freedom and one translational degree of freedom, each degree of freedom is correspondingly provided with two-direction transmission of two steel wires on one degree of freedom, when the main manipulator acts, the steel wires can transmit the action to the robot operating end, and when the robot operating end moves, force feedback can be carried out through the steel wires.
As shown in fig. 2 to 5, the hand shear joint R 1 Constitute by finger moving mechanism 1 and palm positioning mechanism 2, finger moving mechanism 1 sets up through shearing pivot 3 rotatoryly palm positioning mechanism 2 top, shear around being equipped with two continuous shearing drive steel wire 4 in the pivot 3.
The front end of the palm positioning mechanism 2 is movably inserted with a finger fixing mechanism 5, the bottom of the palm positioning mechanism 2 is provided with a limiting groove 6, the limiting groove 6 is provided with a locking nut 7, and the finger fixing mechanism 5 is fixedly installed at the front end of the palm positioning mechanism 2 through the locking nut 7.
The first degree of freedom of the seven-degree-of-freedom decoupling main operating hand is shearing motion, wherein the finger moving mechanism 1 and the finger fixing mechanism 5 are both provided with a circular ring structure for being gripped by an operator, the operator can drive the shearing driving steel wire 4 to move so as to correspond to the shearing operation of a robot actuator by controlling the finger moving mechanism 1 to rotate towards the finger fixing mechanism 5, the finger fixing mechanism 5 is used for fixing fingers of the operator, the palm positioning mechanism 2 is provided with an adjusting device adapting to the size of the hand of the operator, the finger fixing mechanism 5 can adjust the depth of inserting into the palm positioning mechanism 2, the telescopic stroke is controlled by the limiting groove 6, and the relative displacement of the finger fixing mechanism 5 and the finger moving mechanism 1 is fixed by the locking nut 7.
As shown in fig. 5, the wrist offset joint R 2 By first supporting mechanism 8 with palm positioning mechanism 2 constitutes, the rear end of palm positioning mechanism 2 sets up through skew pivot 9 rotatoryly first supporting mechanism 8's upper portion, around being equipped with two skew drive steel wires 10 that link to each other in the skew pivot 9.
The shearing driving steel wire 4 penetrates through a central through hole of the offset rotating shaft 9 and is led into the first bracket mechanism 8, and the shearing driving steel wire 4 and the offset driving steel wire 10 are led out of the first bracket mechanism 8 through the guidance of a first bracket guide wheel set 11; the part of the shearing driving steel wire 4, which is positioned in the central through hole of the offset rotating shaft 9, is of a tendon sheath structure.
The second degree of freedom of the seven-degree-of-freedom decoupling main manipulator is a degree of freedom for wrist deviation, after fingers of an operator are respectively clamped on the finger moving mechanism 1 and the finger fixing mechanism 5, the palm positioning mechanism 2 can rotate relative to the first support mechanism 8 so as to receive the deviation movement of the palm of the operator, and after the movement is received, the displacement generated by the movement is transmitted through the deviation driving steel wire 10; cut driving steel wire 4 at first through cutting the direction wheelset direction and introduce extremely in the first support 8, cut driving steel wire 4 and skew driving steel wire 10 and all can pass through first support direction wheelset 11 direction is drawn forth, the middle part of cutting 4 tendinous sheath parts of driving steel wire is provided with the spring pipe for the steel wire skin, scribbles between steel wire and the spring pipe and is equipped with lubricating grease, consequently guarantees cut driving steel wire 4 and pass through even appear buckling when skew pivot 9 center through-holes, the middle part steel wire still can transmit.
As shown in fig. 5 and 6, the wrist flexion-extension joint R 3 The wrist bending and stretching type bicycle frame is characterized by comprising a front ring mechanism 12 and a first support mechanism 11, wherein the lower part of the first support mechanism 11 is rotatably arranged at the bottom of the front end of the front ring mechanism 12 through a wrist bending and stretching rotating shaft 13, two connected wrist bending and stretching driving steel wires 14 are wound on the wrist bending and stretching rotating shaft 13, and the wrist bending and stretching driving steel wires 14 are guided out of the first support mechanism 11 through a first support bottom guiding wheel set 15.
The third degree of freedom of the seven-degree-of-freedom decoupling main manipulator is the degree of freedom for wrist flexion and extension, and the first bracket mechanism 11 can rotate relative to the front ring mechanism 12 so as to receive flexion and extension movement of the wrist of an operator and transmit the movement to the outside through the wrist flexion and extension driving steel wire 14.
As shown in fig. 7 and 8, the forearm rotary joint R 4 The arm support mechanism 16 is fixedly provided with an arc-shaped male guide rail 17, the rear end of the front ring mechanism 12 is fixedly provided with an inner ring arc-shaped female guide rail 18 and an outer ring arc-shaped female guide rail 19, and the arc-shaped male guide rail 17 is slidably arranged between the inner ring arc-shaped female guide rail 18 and the outer ring arc-shaped female guide rail 19; the arc is public to be provided with arc rack 20 along the circumferencial direction on 17 rails, preceding ring gear 12 is provided with bevel gear 21 with rotating, dabber 22 is worn to be equipped with in the centre of a circle department of bevel gear 21, bevel gear 21 with arc rack 20 meshes the transmission, around being equipped with two continuous forearm rotary drive steel wires 23 on the dabber 22, forearm rotary drive steel wire 23 is drawn forth through the direction of forearm rotary guide wheelset 24 preceding ring gear 12.
The fourth freedom degree of the seven-freedom decoupling main manipulator is used for turning over the arm, and the forearm rotary joint R 4 The rear end of the front ring mechanism 12 is provided with two rows of shell threaded holes, the inner ring arc female guide rail 18 and the outer ring arc female guide rail 19 are respectively connected with the front ring mechanism 12 through the two rows of shell threaded holes, the bottom of the arc male guide rail 17 is provided with a plurality of circumferentially arranged male guide rail threaded holes, and the arc male guide rail 17 is communicated with the front ring mechanism 12The ball bearings are arranged on the arm support mechanism 16 through the threaded holes of the male guide rail, ball bearings 25 are respectively arranged on two sides of the arc-shaped male guide rail 17, ball bearing holder mounting grooves 26 are formed in the inner ring arc-shaped female guide rail 18 and the outer ring arc-shaped female guide rail 19, a plurality of ball mounting holes 27 are formed in the upper side and the lower side of each ball bearing 25, balls are arranged in each ball mounting hole 27, and two exposed ends of each ball are respectively contacted with the arc-shaped male guide rail 17 and the inner ring arc-shaped female guide rail 18 or the outer ring arc-shaped female guide rail 19; a square hole is formed in the center of the bevel gear 21, a square shaft section is arranged in the middle of the mandrel 22, the square shaft section of the mandrel 22 is matched with the square hole of the bevel gear 21, a spiral groove is formed in the mandrel 22, and the front arm rotary driving steel wire 23 is wound in the spiral groove; thus, when the operator rotates the forearm, the front ring mechanism 12 will rotate relative to the arm support mechanism 16, during which the bevel gear 21 will engage on the curved rack 20 and transmit the rotary motion to the forearm rotary drive wire 23 and transmit the motion to the outside.
As shown in fig. 9, 10 and 11, the horizontal displacement drive means M 1 By the arm hold in the palm base 28 with arm holds in the palm mechanism 16 and constitutes, arm holds in the palm mechanism 16 and sets up through two sets of slide rails 29 with sliding on the arm holds in the palm the base 28, the side that the arm held in the palm the base 28 wears to be equipped with displacement drive axle 30 with rotating, the end of displacement drive axle 30 is provided with drive gear 31, the side that the arm held in the palm mechanism 16 is provided with drive rack 32, drive gear 31 and drive rack 32 mesh, around being equipped with two continuous displacement drive steel wires 33 on the displacement drive axle 30.
The fifth degree of freedom of the seven-degree-of-freedom decoupling main manipulator is a degree of freedom for arm forward and backward displacement, when the arm of an operator is positioned on the arm support mechanism 16, the arm support mechanism 16 is pushed to synchronously move along the sliding rail 29 when the arm of the operator stretches, and meanwhile, the driving rack 32 drives the driving gear 31 to rotate, so that the movement is transmitted to the outside through the displacement driving steel wire 33.
As shown in fig. 12, 13 and 14, the forearm turning joint is composed of a second bracket mechanism 34 and the arm support base 28, the arm support base 28 is rotatably connected to the upper portion of the second bracket mechanism 34 through a turning shaft tube 35, two connected turning driving steel wires 36 are wound on the turning shaft tube 35, the displacement driving steel wire 33 is led into the second bracket mechanism 34 through a central through hole of the turning shaft tube 35, and both the displacement driving steel wire 33 and the turning driving steel wire 36 are led out of the second bracket mechanism 34 through a second bracket guiding wheel set 37; the part of the displacement driving steel wire 33, which is positioned in the central through hole of the overturning shaft tube 35, is of a tendon sheath structure.
The sixth degree of freedom of the seven-degree-of-freedom decoupling main manipulator is a degree of freedom for arm turning, and the arm support base 28 can rotate relative to the second bracket mechanism 34, so that when an arm of an operator is fixed to the arm support mechanism 16 and turned over, the arm support base 28 can be driven to rotate relative to the second bracket mechanism 34, and the turning shaft tube 35 rotates along with the arm support base so as to drive the turning driving steel wire 36 to transmit motion to the outside; the displacement driving steel wire 33 is firstly guided to be introduced into the central through hole of the turnover shaft tube 35 through the displacement driving guide wheel set and then enters the second support mechanism 34, the displacement driving steel wire 33 and the turnover driving steel wire 36 are guided to be led out of the second support mechanism 34 through the second support guide wheel set 37, and the displacement driving steel wire 33 can still transmit through bending, so that the part of the displacement driving steel wire 33, which is positioned in the central through hole of the turnover shaft tube 35, is also arranged into a tendon sheath structure.
As shown in fig. 15, the elbow flexion-extension joint R 6 By operative hand base 38 with second gimbal mechanism 34 constitutes, the bottom of second gimbal mechanism 34 is set up through crooking and stretching central siphon 38 rotatoryly on operative hand base 38, crooking and stretching central siphon 38 goes up around being equipped with two continuous elbow and bend and stretch driving wire 39, elbow bends and stretches driving wire 39 and draws forth through the direction of second support bottom guiding wheel group 40 second gimbal mechanism 34.
The seventh degree of freedom of the seven-degree-of-freedom decoupling main manipulator is the degree of freedom for bending and stretching the elbow, the second bracket mechanism 34 can rotate relative to the manipulator base 38, when the elbow of an operator moves, the second bracket mechanism 34 can be driven to rotate, the bending and stretching shaft tube 38 can rotate along with the second bracket mechanism, and the bending and stretching motion of the elbow is transmitted to the outside through the elbow bending and stretching driving steel wire 39.
The seven-degree-of-freedom decoupling main manipulator has six rotational degrees of freedom and one translational degree of freedom, wherein the six rotational degrees of freedom are respectively used for receiving shearing motion, wrist deviation, wrist flexion and extension, forearm rotation, arm turnover and elbow flexion and extension motion, the translational degree of freedom is used for receiving arm translational motion, each degree of freedom is correspondingly provided with two-direction transmission of two steel wires on one degree of freedom, when the main manipulator moves, the steel wires can transmit the motion to the robot operation end, and when the robot operation end moves, force feedback can be carried out through the steel wires.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. A seven-degree-of-freedom decoupling main manipulator is characterized by comprising:
the hand shearing joint, the wrist offset joint, the wrist flexion and extension joint, the forearm rotating joint, the forearm turning joint and the elbow flexion and extension joint are connected one by one; a horizontal displacement driving device is arranged between the forearm rotating joint and the forearm overturning joint;
the hand shearing joint, the wrist deviation joint, the wrist flexion and extension joint, the forearm rotation joint, the forearm turning joint, the elbow flexion and extension joint and the horizontal displacement driving device are all provided with two steel wires which are transmitted in two directions of the corresponding joints or devices;
the hand shearing joint consists of a finger moving mechanism and a palm positioning mechanism, the finger moving mechanism is rotationally arranged at the top of the palm positioning mechanism through a shearing rotating shaft, and two shearing driving steel wires which are connected are wound on the shearing rotating shaft; a finger fixing mechanism is movably inserted at the front end of the palm positioning mechanism, and an operator can drive the shearing driving steel wire to move so as to correspond to the shearing operation of the robot actuator by controlling the finger moving mechanism to rotate towards the finger fixing mechanism;
the wrist offset joint consists of a first bracket mechanism and the palm positioning mechanism, the rear end of the palm positioning mechanism is rotationally arranged at the upper part of the first bracket mechanism through an offset rotating shaft, and two offset driving steel wires which are connected are wound on the offset rotating shaft;
the wrist flexion-extension joint consists of a front ring mechanism and a first bracket mechanism, the lower part of the first bracket mechanism is rotationally arranged at the bottom of the front end of the front ring mechanism through a wrist flexion-extension rotating shaft, and two connected wrist flexion-extension driving steel wires are wound on the wrist flexion-extension rotating shaft;
the front arm rotary joint consists of an arm support mechanism and a front ring mechanism, an arc male guide rail is fixedly arranged on the arm support mechanism, an inner ring arc female guide rail and an outer ring arc female guide rail are fixedly arranged at the rear end of the front ring mechanism, the arc male guide rail is slidably arranged between the inner ring arc female guide rail and the outer ring arc female guide rail, an arc rack is arranged on the arc male guide rail along the circumferential direction, a bevel gear is rotatably arranged on the front ring mechanism, a core shaft penetrates through the center of the bevel gear, the bevel gear is in meshing transmission with the arc rack, and two connected front arm rotary driving steel wires are wound on the core shaft;
the horizontal displacement driving device comprises an arm support base and an arm support mechanism, the arm support mechanism is arranged on the arm support base in a sliding mode through two groups of sliding rails, a displacement driving shaft is rotatably arranged on the side face of the arm support base in a penetrating mode, a driving gear is arranged at the end of the displacement driving shaft, a driving rack is arranged on the side face of the arm support mechanism, the driving gear is meshed with the driving rack, and two connected displacement driving steel wires are wound on the displacement driving shaft;
the forearm turnover joint consists of a second bracket mechanism and the arm support base, the arm support base is rotationally connected with the upper part of the second bracket mechanism through a turnover shaft tube, and two connected turnover driving steel wires are wound on the turnover shaft tube;
the elbow bends and stretches the joint by the operative hand base with second gimbal mechanism constitutes, the bottom of second gimbal mechanism sets up through bending and stretching the central siphon rotatoryly on the operative hand base, bend and stretch around being equipped with two continuous elbows on the central siphon and bend and stretch the drive wire.
2. The seven-degree-of-freedom decoupling main manipulator according to claim 1, wherein a limiting groove is formed in the bottom of the palm positioning mechanism, a locking nut is arranged in the limiting groove, and the finger fixing mechanism is fixedly mounted at the front end of the palm positioning mechanism through the locking nut.
3. The seven-degree-of-freedom decoupling main manipulator according to claim 1, wherein the shear driving steel wire is led into the first bracket mechanism through a central through hole of the offset rotating shaft, and the shear driving steel wire and the offset driving steel wire are led out of the first bracket mechanism through a first bracket guide wheel set; the part of the shearing driving steel wire, which is positioned in the central through hole of the offset rotating shaft, is of a tendon sheath structure.
4. The seven-degree-of-freedom decoupling main manipulator according to claim 1, wherein the wrist flexion and extension driving steel wire is guided out of the first support mechanism through a first support bottom guide wheel set.
5. The seven-degree-of-freedom decoupling main manipulator according to claim 4, wherein the forearm rotary driving steel wire is guided out of the front ring mechanism through a forearm rotary guide wheel set.
6. The seven-degree-of-freedom decoupling master manipulator according to claim 5, wherein the displacement driving steel wire is led into the second bracket mechanism from a central through hole of the turnover shaft tube, and the displacement driving steel wire and the turnover driving steel wire are led out of the second bracket mechanism through a second bracket guide wheel set; and the part of the displacement driving steel wire, which is positioned in the central through hole of the turnover shaft tube, is of a tendon sheath structure.
7. The seven-degree-of-freedom decoupling main manipulator according to claim 6, wherein the elbow flexion and extension driving steel wire is guided out of the second support mechanism through a second support bottom guide wheel set.
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| CN114569251B (en) * | 2022-03-02 | 2023-12-05 | 中南大学 | Double arm manipulator system |
| CN114474146A (en) * | 2022-03-02 | 2022-05-13 | 中南大学 | Seven-degree-of-freedom main manipulator mechanical arm |
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